Disabling onboard input devices in an autonomous vehicle

ABSTRACT

Systems and methods for disabling autonomous vehicle input devices are provided. In one example embodiment, a computer implemented method includes identifying an operating mode of an autonomous vehicle. The method includes determining one or more vehicle input devices to be disabled based at least in part on the operating mode of the autonomous vehicle. The vehicle input devices are located onboard the autonomous vehicle. The method includes disabling the one or more vehicle input devices based at least in part on the identified operating mode of the autonomous vehicle such that an input by a user with respect to the one or more vehicle input devices does not affect an operation of the autonomous vehicle.

FIELD

The present disclosure relates generally to disabling vehicle inputdevices of an autonomous vehicle based on the operating mode of thevehicle.

BACKGROUND

An autonomous vehicle is a vehicle that is capable of sensing itsenvironment and navigating without human input. In particular, anautonomous vehicle can observe its surrounding environment using avariety of sensors and can attempt to comprehend the environment byperforming various processing techniques on data collected by thesensors. Given knowledge of its surrounding environment, the autonomousvehicle can identify an appropriate motion path through such surroundingenvironment.

SUMMARY

Aspects and advantages of embodiments of the present disclosure will beset forth in part in the following description, or may be learned fromthe description, or may be learned through practice of the embodiments.

One example aspect of the present disclosure is directed to acomputer-implemented method of disabling autonomous vehicle inputdevices. The method includes identifying, by a computing systemcomprising one or more computing devices, an operating mode of anautonomous vehicle. The method includes determining, by the computingsystem, one or more vehicle input devices to be disabled based at leastin part on the operating mode of the autonomous vehicle. The vehicleinput devices are located onboard the autonomous vehicle. The methodincludes disabling, by the computing system, the one or more vehicleinput devices based at least in part on the identified operating mode ofthe autonomous vehicle such that an input by a user with respect to theone or more vehicle input devices does not affect an operation of theautonomous vehicle.

Another example aspect of the present disclosure is directed to acomputing system for disabling autonomous vehicle input devices. Thecomputing system includes one or more processors and one or moretangible, non-transitory, computer readable media that collectivelystore instructions that when executed by the one or more processorscause the computing system to perform operations. The operations includeidentifying that an autonomous vehicle is operating in a fullyautonomous operating mode. The operations include determining one ormore vehicle input devices to be disabled based at least in part on thefully autonomous operating mode of the autonomous vehicle. The vehicleinput devices are located onboard the autonomous vehicle. The operationsinclude disabling the one or more vehicle input devices such that aninput by a user with respect to the one or more vehicle input devicesdoes not affect an operation of the autonomous vehicle.

Yet another example aspect of the present disclosure is directed to anautonomous vehicle. The autonomous vehicle includes one or more vehicleinput devices. The autonomous vehicle includes one or more processorsand one or more tangible, non-transitory, computer readable media thatcollectively store instructions that when executed by the one or moreprocessors cause the autonomous vehicle to perform operations. Theoperations include identifying that the autonomous vehicle is operatingin an operating mode. The autonomous vehicle is configured to operate ina plurality of operating modes. The operations include providing one ormore control signals to disable the one or more vehicle input devicesbased at least in part on the operating mode such that an input by auser with respect to the one or more vehicle input devices does notaffect an operation of the autonomous vehicle.

Other example aspects of the present disclosure are directed to systems,methods, vehicles, apparatuses, tangible, non-transitorycomputer-readable media, and memory devices for disabling input devicesof an autonomous vehicle.

These and other features, aspects and advantages of various embodimentswill become better understood with reference to the followingdescription and appended claims. The accompanying drawings, which areincorporated in and constitute a part of this specification, illustrateembodiments of the present disclosure and, together with thedescription, serve to explain the related principles.

BRIEF DESCRIPTION OF THE DRAWINGS

Detailed discussion of embodiments directed to one of ordinary skill inthe art are set forth in the specification, which makes reference to theappended figures, in which:

FIG. 1 depicts an example system overview according to exampleembodiments of the present disclosure;

FIG. 2 depicts an example portion of a vehicle interior according toexample embodiments of the present disclosure;

FIG. 3 depicts an example display device according to exampleembodiments of the present disclosure;

FIG. 4 depicts a flow diagram of an example method of disablingautonomous vehicle input devices according to example embodiments of thepresent disclosure; and

FIG. 5 depicts example system components according to exampleembodiments of the present disclosure.

DETAILED DESCRIPTION

Reference now will be made in detail to embodiments, one or moreexample(s) of which are illustrated in the drawings. Each example isprovided by way of explanation of the embodiments, not limitation of thepresent disclosure. In fact, it will be apparent to those skilled in theart that various modifications and variations can be made to theembodiments without departing from the scope or spirit of the presentdisclosure. For instance, features illustrated or described as part ofone embodiment can be used with another embodiment to yield a stillfurther embodiment. Thus, it is intended that aspects of the presentdisclosure cover such modifications and variations.

Example aspects of the present disclosure are directed to disabling userinput devices within the cabin of an autonomous vehicle based on theoperating mode of the vehicle. For instance, an entity (e.g., serviceprovider) can use a fleet of vehicles to provide a vehicle service(e.g., transportation service) to a plurality of users. The fleet caninclude, for example, autonomous vehicles that can drive, navigate,operate, etc. with minimal and/or no input from a human driver. Theautonomous vehicles can be configured to operate in a plurality ofoperating modes such as a manual operating mode (e.g., the vehicle isfully controlled by a human driver), a semi-autonomous operating mode(e.g., the vehicle operates with some input from a human driver), and/ora fully autonomous operating mode (e.g., vehicle operates with no inputfrom a human driver). The autonomous vehicles can also be configured toprovide one or more vehicle services such as, for example, atransportation service (e.g., rideshare service). To help prevent a userof the vehicle service (e.g., a passenger of the rideshare service) frominterfering with the operation of the vehicle, one or more vehicle inputdevices that control various aspects of the vehicle can be disabled fromthe user. By way of example, an autonomous vehicle can operate in afully autonomous operating mode to provide a rideshare service to auser. While doing so, the vehicle input devices that control the motionof the vehicle (e.g., steering mechanism, braking mechanism,acceleration mechanism, etc.) can be disabled such that input (e.g.,physical manipulation, voice activation, etc.) by the user with respectto such vehicle input devices will not affect the motion of the vehicle.In some implementations, the vehicle's motion indicators (e.g., turnsignals, hazard lights, etc.) can also be disabled to prevent a userfrom falsely indicating a motion of the vehicle (e.g., falselyindicating a turn). In some implementations, all vehicle input devices(include those affecting motion and motion indication) can be disabled.Accordingly, disablement of certain (and/or all) vehicle input device(s)can help prevent a user of the vehicle services from interfering withthe operation of the autonomous vehicle in order to increase user andvehicle safety.

More particularly, an entity (e.g., service provider, owner, manager)can use one or more vehicles (e.g., ground-based vehicles) to provide avehicle service such as a transportation service (e.g., rideshareservice), a courier service, a delivery service, etc. The vehicle(s) canbe autonomous vehicles that include various systems and devicesconfigured to control the operation of the vehicle. For example, anautonomous vehicle can include an onboard vehicle computing system foroperating the vehicle. The vehicle computing system can receive sensordata from sensor(s) onboard the vehicle (e.g., cameras, LIDAR, RADAR,etc.), attempt to comprehend the surrounding environment by performingvarious processing techniques on data collected by the sensor(s), andgenerate an appropriate motion plan through such surroundingenvironment.

The autonomous vehicle can also include one or more vehicle inputdevices that are configured to adjust the operation of the vehicle basedat least in part on user input with respect to the vehicle inputdevice(s). For example, the autonomous vehicle can include one or morevehicle input devices that are configured to affect the motion of thevehicle. Such vehicle input device(s) can include a steering mechanism(e.g., steering wheel, control stick), a braking mechanism (e.g., brakepedal, parking brake), an acceleration mechanism (e.g., gas pedal, handthrottle), and/or other devices. The vehicle input device(s) can alsoinclude a power state adjustment mechanism (e.g., push button, keyswitch, ignition, other interface). The vehicle input device(s) can alsoinclude one or more vehicle input device(s) that are configured tocontrol an indication of vehicle motion. For example, the vehicle inputdevice(s) can include a turn indication mechanism (e.g., turn signalcontrol device), a hazard indication mechanism (e.g., hazard lightsactivation button), and/or other devices. In some implementations, thevehicle input device(s) can be associated with other features of theautonomous vehicle. For instance, the vehicle input device(s) can beassociated with the control of the windows, windshield wipers,temperature, defrost, etc. When the vehicle input device(s) are enabled,a user can adjust the vehicle input device(s) to affect the operation ofthe vehicle (e.g., to control motion, motion indication, etc.).

An autonomous vehicle can be configured to operate in a plurality ofoperating modes. For example, an autonomous vehicle can be configured tooperate in a fully autonomous (e.g., self-driving) operating mode inwhich the autonomous vehicle can drive and navigate with no interactionfrom a user present in the vehicle. The autonomous vehicle can beconfigured to operate in a semi-autonomous operating mode in which theautonomous vehicle can operate with some interaction from a user presentin the vehicle. In some implementations, the autonomous vehicle canenter into a manual control mode in which the vehicle is fullycontrollable by a user (e.g., human driver) and can be prohibited fromperforming autonomous navigation (e.g., autonomous driving).

The operating mode of an autonomous vehicle can be adjusted in a varietyof manners. In some implementations, the operating mode of theautonomous vehicle can be selected remotely, off board the autonomousvehicle. For example, an entity associated with the autonomous vehicle(e.g., a service provider) can utilize an operations computing systemthat is remote from the autonomous vehicle to manage the vehicles(and/or an associated fleet). The operations computing system can send acommunication to the autonomous vehicle instructing the autonomousvehicle to enter into, exit from, maintain, etc. an operating mode. Byway of example, the operations computing system can send a communicationto the autonomous vehicle instructing the autonomous vehicle to enterinto the fully autonomous operating mode when providing a rideshareservice to a user. In some implementations, the operating mode of theautonomous vehicle can be set locally (e.g., onboard, near the vehicle).For example, the operating mode of the autonomous vehicle can beselected via a secure interface (e.g., physical switch interface,graphical user interface) onboard the vehicle and/or associated with acomputing device proximate to the vehicle (e.g., a tablet operated byauthorized personnel located near the vehicle). The vehicle computingsystem can cause the autonomous vehicle to enter into an operating mode(e.g., fully autonomous operating mode).

The vehicle computing system of the autonomous vehicle can identify theoperating mode of the autonomous vehicle. The vehicle computing systemcan obtain data indicating whether the vehicle is in a fully autonomousoperating mode, semi-autonomous operating mode, manual operating mode,etc. For example, the vehicle computing system can monitor the state ofan onboard interface (e.g., switch interface) to determine whether thevehicle has been set to enter into the fully autonomous operating mode.In some implementations, another computing device onboard the autonomousvehicle that is configured to adjust the operating mode of the vehicle(e.g., a mode manager system) can provide data indicative of theoperating mode of the vehicle (e.g., before, during, and/or after thevehicle has completed transition to the operating mode). Additionally,or alternatively, the vehicle computing system can determine theoperating mode of the autonomous vehicle based at least in part on acommunication provided via a remote computing system (e.g., theoperations computing system).

The vehicle computing system can determine one or more vehicle inputdevices to be disabled based at least in part on the operating mode ofthe autonomous vehicle. For example, the vehicle computing system candetermine that a first set of vehicle input device(s) configured tocontrol and/or otherwise affect the motion of the vehicle (e.g.,steering mechanism, braking mechanism, and/or acceleration mechanisms)should be disabled while the vehicle is in the fully autonomousoperating mode. Additionally, or alternatively, the vehicle computingsystem can determine that a second set of vehicle input devicesconfigured to control and/or otherwise affect the indication of motion(e.g., turn signals, hazard lights) should be disabled while theautonomous vehicle is in the fully autonomous operating mode.

In some implementations, the vehicle input device(s) can be disabledaccording to a tiered approach. For example, the second set of vehicleinput devices can be disabled after the first set of vehicle inputdevices are disabled, such that motion control is disabled before motionindication control. The vehicle computing system can access a datastructure (e.g., list, rule, etc.) that indicates which vehicle inputdevice(s) are to be disabled based at least in part on the operatingmode of the autonomous vehicle. The data structures can be modified suchthat additional, fewer, and/or different vehicle input device(s) can bedisabled based at least in part on the operating mode of the vehicle.This can be advantageous when vehicle input device(s) are added,removed, and/or changed for newer models of an autonomous vehicle.

The vehicle computing system can disable the one or more vehicle inputdevices such that an interaction by the user with the one or morevehicle input devices does not affect the operation of the autonomousvehicle. For example, the autonomous vehicle can enter into a fullyautonomous (e.g., self-driving) operating mode. The vehicle computingsystem can send one or more control signals to disable the steeringmechanism, braking mechanism, acceleration mechanism, power stateadjustment mechanism, etc. such that the user (e.g., a passenger of arideshare service, delivery service) cannot interfere with the motion ofthe autonomous vehicle while it autonomously navigates. The vehiclecomputing system can also send one or more control signals to disablethe turn indication mechanisms, hazard indication mechanisms, etc. suchthat the user cannot interfere with the indication of vehicle motion(e.g., via an incorrect lane change). In this way, the vehicle computingsystem can disable the vehicle input device(s) that are associated withcontrolling the motion of the autonomous vehicle and/or indicatingvehicle motion to others on a travel way to avoid unwanted userinterference. In some implementations, one or more other vehicle inputdevice(s) (e.g., temperature control, wipers, etc.) can be disabled toavoid further user interference.

The vehicle input device(s) can be disabled in a variety of manners. Insome implementations, a vehicle input device can be disabledelectronically. By way of example, the acceleration mechanism (e.g., gaspedal) of an autonomous vehicle can be associated with a throttle bywire system that controls the acceleration of the vehicle based at leastin part on communications from the acceleration mechanism to a controldevice associated therewith. A throttle by wire system can include anelectronic throttle without any cables from the acceleration mechanismto the engine (e.g., a throttle valve of the engine). Such a system canreceive inputs from the acceleration mechanism and send commands tocontrol vehicle acceleration. To disable the acceleration mechanism, thevehicle computing system can send one or more control signals to disablecommunication from the acceleration mechanism such that input signalsfrom the acceleration mechanism are temporarily prevented and/or ignored(e.g., by opening a switch). In this way, the speed of the autonomousvehicle is not affected by compression (or release) of the accelerationmechanism by the user. Similar approaches can be undertaken for steeringby wire and/or braking by wire type systems.

In some implementations, a vehicle input device can be disabledmechanically. By way of example, an autonomous vehicle can include amotor that is associated with the steering mechanism (e.g., the steeringrack). The motor can control the motion of the steering mechanism. Todisable the steering mechanism such that user input is ineffective, thevehicle computing system can send control signal(s) to activate themotor such that the steering mechanism is moved with sufficient force sothat a human user cannot overpower the motor to adjust the steeringmechanism in another manner (e.g., in an opposite direction).Additionally, or alternatively, the motor could apply a counteractiveforce to any user input associated with the steering mechanism. Inanother example, the braking mechanism (e.g., brake pedal) can beassociated with an actuator (e.g., linear actuator). To disable thebraking mechanism, the vehicle computing system can send controlsignal(s) to cause the actuator to stiffen and provide a resistanceforce such that a user cannot compress the braking mechanism. A similarsuch approach could be used to disable the acceleration mechanism. Insome implementations, a vehicle input device can be mechanicallydisabled such that a user can manipulate the input device but with noeffect on the operation of the vehicle. For example, a mechanical device(e.g., actuator, motor) can be disconnected and/or caused to provide noresistance force such that a user can manipulate the vehicle inputdevice (e.g., compress the braking mechanism), but such manipulationwould have no effect on the operation of the autonomous vehicle. Thiscan provide a similar approach to the electronic disablement asdescribed herein.

The vehicle computing system can provide an indication that the vehicleinput device(s) are disabled. For instance, the vehicle computing systemcan provide data indicating that the vehicle input device(s) aredisabled for display via a user interface. The data can identify theoperating mode of the autonomous vehicle, one or more of the vehicleinput device(s) that have been disabled, and/or otherwise indicate thatthe user is not provided with control of the autonomous vehicle. Suchinformation can be displayed by a display device via a textual message,a graphical representation (e.g., symbol, picture, etc.), and/or viaother types of communication (e.g., lighting change, audiblecommunication). The display device can be located onboard the autonomousvehicle (e.g., a tablet in the vehicle interior) and/or remotely fromthe autonomous vehicle (e.g., for an operator that is remote from thevehicle).

In some implementations, the vehicle computing system can identify achange in the operating mode of the vehicle. One or more vehicle inputdevice(s) can be enabled based at least in part on the change in theoperating mode of the autonomous vehicle. For example, the autonomousvehicle can finish transporting a user to a destination location andtravel to a service depot for scheduled maintenance. The autonomousvehicle can enter into (and/or be caused to enter into) the manual modesuch that a technician at the service depot can control the autonomousvehicle. The vehicle computing system can identify that the vehicle haschanged from a first operating mode (e.g., a fully autonomous mode) to asecond operating mode (e.g., a manual mode) and enable one or morevehicle input devices such that the technician can control theautonomous vehicle. For example, one or more vehicle input devices thatwere previously disabled during the first operating mode can be enabledwhen a change to the second operating mode is identified.

The system and methods described herein may provide a number oftechnical effects and benefits. For instance, unwanted user interferencewith an autonomous vehicle can be detrimental to the autonomous vehicleas it implements a motion plan to autonomously navigate through itssurrounding environment as well as present safety risks to the user, thevehicle, and objects proximate to the vehicle. The systems and methodsof the present disclosure can allow the vehicle computing system todisable vehicle input device(s) such that a user is unable to affect theoperation of the autonomous vehicle. This can help prevent unwanted userinterference with the autonomous vehicle while the vehicle is providinga vehicle service (e.g., transportation service). Moreover, disablementof certain vehicle input device(s) can help eliminate potential sourcesof error and/or interference with the autonomous operation of thevehicle (e.g., autonomous motion control). As such, the systems andmethods of the present disclosure can increase user and vehicle safety,while also improving the performance of the vehicle's autonomy computingand control systems (e.g., through elimination of potentialinterference).

The systems and methods of the present disclosure also provide animprovement to vehicle computing technology, such as autonomous vehiclecomputing technology. For instance, the systems and methods describedherein enable the vehicle technology to identify an operating mode ofthe vehicle and disable certain vehicle input devices based at least inpart on the operating mode. For example, the systems and methods canallow one or more computing device(s) (e.g., onboard an autonomousvehicle) to identify an operating mode of an autonomous vehicle that isconfigured to provide a vehicle service to a user. The computingdevice(s) can determine one or more onboard vehicle input devices to bedisabled based at least in part on the operating mode of the autonomousvehicle. The computing device(s) can disable the one or more vehicleinput devices such that an input by the user with respect to the one ormore vehicle input devices does not affect the operation of theautonomous vehicle. In this way, the systems and methods can providecustomization as to which vehicle input device(s) are disabled withrespect to the user for a certain operating mode. Such selectivity canlead to computational efficiency and flexibility because it may beimportant to disable different input device(s) for one operating modethan for another.

Additionally, by disabling the vehicle input device(s) via the vehiclecomputing system, existing hardware need not be removed from thevehicle. More particularly, the systems and methods can be included innew vehicles and/or provided to existing vehicles without removal ofexisting control hardware (e.g., steering wheel, brake pedal, gaspedal). This can lead to significant cost and time savings whenconfiguring a new autonomous vehicle, as well as less vehicle downtimewhen upgrading existing vehicles to use the systems and methods of thepresent disclosure.

With reference now to the FIGS., example embodiments of the presentdisclosure will be discussed in further detail. FIG. 1 depicts anexample system 100 according to example embodiments of the presentdisclosure. The system 100 can include a vehicle computing system 102associated with a vehicle 103. In some implementations, the system 100can include an operations computing system 104 that is remote from thevehicle 103. In some implementations, the vehicle 103 can be associatedwith an entity (e.g., a service provider, owner, manager). The entitycan be one that provides one or more vehicle service(s) to a pluralityof users via a fleet of vehicles that includes, for example, the vehicle103. In some implementations, the entity can be associated with onlyvehicle 103 (e.g., a sole owner, manager). In some implementations, theoperations computing system 104 can be associated with such an entity.

The vehicle 103 incorporating the vehicle computing system 102 can be aground-based autonomous vehicle (e.g., car, truck, bus), an air-basedautonomous vehicle (e.g., airplane, drone, helicopter, or otheraircraft), or other types of vehicles (e.g., watercraft). The vehicle103 can be an autonomous vehicle that can drive, navigate, operate, etc.with minimal and/or no interaction from a human driver. For instance,the vehicle 103 can be configured to operate in a plurality of operatingmodes 106A-C. The vehicle 103 can be configured to operate in a fullyautonomous (e.g., self-driving) operating mode 106A in which the vehicle103 can drive and navigate with no input from a user present in thevehicle 103. The vehicle 103 can be configured to operate in asemi-autonomous operating mode 106B in which the vehicle 103 can operatewith some input from a user present in the vehicle. In someimplementations, the vehicle 103 can enter into a manual operating mode106C in which the vehicle 103 is fully controllable by a user (e.g.,human driver) and can be prohibited from performing autonomousnavigation (e.g., autonomous driving).

The operating mode of the vehicle 103 can be adjusted in a variety ofmanners. In some implementations, the operating mode of the vehicle 103can be selected remotely, off board the vehicle 103. For example, anentity associated with the vehicle 103 (e.g., a service provider) canutilize an operations computing system 104 to manage the vehicle 103(and/or an associated fleet). The operations computing system 104 cansend a communication to the vehicle 103 instructing the vehicle 103 toenter into, exit from, maintain, etc. an operating mode. By way ofexample, the operations computing system 104 can send a communication tothe vehicle 103 instructing the vehicle 103 to enter into the fullyautonomous operating mode 106A when providing a rideshare service to auser. In some implementations, the operating mode of the vehicle 103 canbe set onboard and/or near the vehicle 103. For example, the operatingmode of the vehicle 103 can be selected via a secure interface (e.g.,physical switch interface, graphical user interface) onboard the vehicle103 and/or associated with a computing device proximate to the vehicle103 (e.g., a tablet operated by authorized personnel located near thevehicle 103). In some implementations, the vehicle computing system candetermine which operating mode the autonomous vehicle should be in andcause the autonomous vehicle to enter into that operating mode.

The vehicle computing system 102 can include one or more computingdevices located onboard the vehicle 103 (e.g., located on and/or withinthe vehicle 103). The computing device(s) can include various componentsfor performing various operations and functions. For instance, thecomputing device(s) can include one or more processor(s) and one or moretangible, non-transitory, computer readable media. The one or moretangible, non-transitory, computer readable media can store instructionsthat when executed by the one or more processor(s) cause the vehicle 103(e.g., its computing system, one or more processors, etc.) to performoperations and functions, such as those described herein.

As shown in FIG. 1, the vehicle 103 can include one or more sensors 108,an autonomy computing system 110, and one or more vehicle controlsystems 112. One or more of these systems can be configured tocommunicate with one another via a communication channel. Thecommunication channel can include one or more data buses (e.g.,controller area network (CAN)), on-board diagnostics connector (e.g.,OBD-II), and/or a combination of wired and/or wireless communicationlinks. The onboard systems can send and/or receive data, messages,signals, etc. amongst one another via the communication channel.

The sensor(s) 108 can be configured to acquire sensor data 114associated with one or more objects that are proximate to the vehicle103 (e.g., within a field of view of one or more of the sensor(s) 108).The sensor(s) 108 can include a Light Detection and Ranging (LIDAR)system, a Radio Detection and Ranging (RADAR) system, one or morecameras (e.g., visible spectrum cameras, infrared cameras, etc.), motionsensors, and/or other types of imaging capture devices and/or sensors.The sensor data 114 can include image data, radar data, LIDAR data,and/or other data acquired by the sensor(s) 108. The object(s) caninclude, for example, pedestrians, vehicles, bicycles, and/or otherobjects. The object(s) can be located in front of, to the rear of,and/or to the side of the vehicle 103. The sensor data 114 can beindicative of locations associated with the object(s) within thesurrounding environment of the vehicle 103 at one or more times. Thesensor(s) 108 can provide the sensor data 114 to the autonomy computingsystem 110.

In addition to the sensor data 114, the autonomy computing system 110can retrieve or otherwise obtain map data 116. The map data 116 canprovide detailed information about the surrounding environment of thevehicle 103. For example, the map data 116 can provide informationregarding: the identity and location of different roadways, roadsegments, buildings, or other items or objects (e.g., lampposts,crosswalks, curbing, etc.); the location and directions of traffic lanes(e.g., the location and direction of a parking lane, a turning lane, abicycle lane, or other lanes within a particular roadway or other travelway and/or one or more boundary markings associated therewith); trafficcontrol data (e.g., the location and instructions of signage, trafficlights, or other traffic control devices); and/or any other map datathat provides information that assists the vehicle 103 in comprehendingand perceiving its surrounding environment and its relationship thereto.

The vehicle 103 can include a positioning system 118. The positioningsystem 118 can determine a current position of the vehicle 103. Thepositioning system 118 can be any device or circuitry for analyzing theposition of the vehicle 103. For example, the positioning system 118 candetermine position by using one or more of inertial sensors, a satellitepositioning system, based on IP address, by using triangulation and/orproximity to network access points or other network components (e.g.,cellular towers, WiFi access points, etc.) and/or other suitabletechniques. The position of the vehicle 103 can be used by varioussystems of the vehicle computing system 102 and/or provided to a remotecomputing device (e.g., of the operations computing system 104). Forexample, the map data 116 can provide the vehicle 103 relative positionsof the surrounding environment of the vehicle 103. The vehicle 103 canidentify its position within the surrounding environment (e.g., acrosssix axes) based at least in part on the data described herein. Forexample, the vehicle 103 can process the sensor data 114 (e.g., LIDARdata, camera data) to match it to a map of the surrounding environment.

The autonomy computing system 110 can include a perception system 120, aprediction system 122, a motion planning system 124, and/or othersystems that cooperate to perceive the surrounding environment of thevehicle 103 and determine a motion plan for controlling the motion ofthe vehicle 103 accordingly. For example, the autonomy computing system110 can receive the sensor data 114 from the sensor(s) 108, attempt tocomprehend the surrounding environment by performing various processingtechniques on the sensor data 114 (and/or other data), and generate anappropriate motion plan through such surrounding environment. Theautonomy computing system 110 can control the one or more vehiclecontrol systems 112 to operate the vehicle 103 according to the motionplan.

The autonomy computing system 110 can identify one or more objects thatare proximate to the vehicle 103 based at least in part on the sensordata 114 and/or the map data 116. For example, the perception system 120can obtain state data 126 descriptive of a current state of an objectthat is proximate to the vehicle 103. The state data 126 for each objectcan describe, for example, an estimate of the object's: current location(also referred to as position); current speed (also referred to asvelocity); current acceleration; current heading; current orientation;size/footprint (e.g., as represented by a bounding polygon); class(e.g., pedestrian class vs. vehicle class vs. bicycle class), and/orother state information. The perception system 120 can provide the statedata 126 to the prediction system 122 (e.g., for predicting the movementof an object).

The prediction system 122 can create predicted data 128 associated witheach of the respective one or more objects proximate to the vehicle 103.The predicted data 128 can be indicative of one or more predicted futurelocations of each respective object. The predicted data 128 can beindicative of a predicted path (e.g., predicted trajectory) of at leastone object within the surrounding environment of the vehicle 103. Forexample, the predicted path (e.g., trajectory) can indicate a path alongwhich the respective object is predicted to travel over time (and/or thespeed at which the object is predicted to travel along the predictedpath). The prediction system 122 can provide the predicted data 128associated with the object(s) to the motion planning system 124.

The motion planning system 124 can determine a motion plan 130 for thevehicle 103 based at least in part on the predicted data 128 (and/orother data). The motion plan 130 can include vehicle actions withrespect to the objects proximate to the vehicle 103 as well as thepredicted movements. For instance, the motion planning system 124 canimplement an optimization algorithm that considers cost data associatedwith a vehicle action as well as other objective functions (e.g., basedon speed limits, traffic lights, etc.), if any, to determine optimizedvariables that make up the motion plan 130. By way of example, themotion planning system 124 can determine that the vehicle 103 canperform a certain action (e.g., pass an object) without increasing thepotential risk to the vehicle 103 and/or violating any traffic laws(e.g., speed limits, lane boundaries, signage). The motion plan 130 caninclude a planned trajectory, speed, acceleration, etc. of the vehicle103.

The motion planning system 124 can provide the motion plan 130 with dataindicative of the vehicle actions, a planned trajectory, and/or otheroperating parameters to the vehicle control system(s) 112 to implementthe motion plan 130 for the vehicle 103. For instance, the vehicle 103can include a mobility controller configured to translate the motionplan 130 into instructions. By way of example, the mobility controllercan translate a determined motion plan 130 into instructions to adjustthe steering of the vehicle 103 “X” degrees, apply a certain magnitudeof braking force, etc. The mobility controller can send one or morecontrol signals to the responsible vehicle control component (e.g.,braking control system, steering control system, acceleration controlsystem) to execute the instructions and implement the motion plan 130.

The vehicle 103 can include a communications system 132 configured toallow the vehicle computing system 102 (and its computing device(s)) tocommunicate with other computing devices. The vehicle computing system102 can use the communications system 132 to communicate with theoperations computing system 104 and/or one or more other remotecomputing device(s) over one or more networks (e.g., via one or morewireless signal connections). In some implementations, thecommunications system 132 can allow communication among one or more ofthe system(s) on-board the vehicle 103. The communications system 132can include any suitable components for interfacing with one or morenetworks, including, for example, transmitters, receivers, ports,controllers, antennas, and/or other suitable components that can helpfacilitate communication.

The vehicle 103 can include one or more human-machine interfaces 134.For example, the vehicle 103 can include one or more display deviceslocated onboard the vehicle 103. A display device of a user device(e.g., tablet, laptop, etc.) can be viewable by a user of the vehicle103 that is located in the front of the vehicle 103 (e.g., driver'sseat, front passenger seat). Additionally, or alternatively, a displaydevice of a user device (e.g., tablet, laptop, etc.) can be viewable bya user of the vehicle 103 that is located in the rear of the vehicle 103(e.g., back passenger seat(s)). The human machine interface(s) 134 canreceive information from a user and/or provide information for display,as further described herein.

The vehicle 103 can include one or more vehicle input devices that arelocated onboard the vehicle 103 (e.g., on and/or within the vehicle103). For example, FIG. 2 depicts an example portion of a vehicleinterior 200 of the vehicle 103 showing vehicle input device(s)according to example embodiments of the present disclosure. FIG. 2 showsthe vehicle interior associated with an automobile for examplediscussion purposes only and is not meant to be limiting. As described,the vehicle 103 can be other types of vehicles.

The vehicle input device(s) can be configured to adjust the operation ofthe vehicle 103 based at least in part on an input by a user withrespect to the vehicle input device(s) such as by physical manipulation,by voice activation, etc. of the vehicle input device(s). When thevehicle input device(s) are enabled, a user can provide input withrespect to the vehicle input device(s) to affect the operation of thevehicle 103 such as to control motion, motion indication, and/or otherfeatures associated with the vehicle 103.

The vehicle 103 can include one or more vehicle input devices that areconfigured to affect the motion of the vehicle 103. The vehicle inputdevices can include, for example, any vehicle input device that affectsthe vehicle direction of motion, any vehicle input device that locks thewheels of the vehicle 103, and/or any vehicle input device thatotherwise affects the motion of the vehicle 103. Such vehicle inputdevice(s) can include a steering mechanism 202 of the vehicle 103, abraking mechanism 204 of the vehicle 103, an acceleration mechanism 206of the vehicle 103, and/or other devices. The steering mechanism 202 caninclude a device that can be adjusted to control the heading of thevehicle 103. For example, the steering mechanism 202 can include asteering wheel, control stick, etc. The braking mechanism 204 caninclude a device that can be adjusted to control the braking of thevehicle 103. For example, the braking mechanism 204 can include a brakepedal, parking brake, electronic braking system, etc. The accelerationmechanism 206 can include a device that can be adjusted to control theacceleration of the vehicle 103. For example, the acceleration mechanism206 can include a gas pedal, hand throttle, etc. The vehicle inputdevice(s) can also include a power state adjustment mechanism 208 of thevehicle 103 (e.g., push button, key switch, other interface). Thevehicle input device(s) can also include a gearshift mechanism such as,for example, a gear shifter and/or a PRND control device (e.g.,park-reverse-neutral-drive control).

The vehicle input device(s) can also include one or more vehicle inputdevice(s) that are configured to control an indication of vehiclemotion. For example, the vehicle input device(s) can include a turnindication mechanism 210 of the vehicle 103, a hazard indicationmechanism 212 of the vehicle 103, and/or other devices. The turnindication mechanism 210 can include a device that can be adjusted toactivate an indication (e.g., a turn signal) that the vehicle may turn.For example, the turn indication mechanism can include a turn signalcontrol, etc. The hazard indication mechanism 212 can include a devicethat can be adjusted to control a hazard indication provided by thevehicle 103 (e.g., hazard lights). For example, the hazard indicationmechanism can include a hazard light activation button, etc. Somevehicle input devices can be configured to control both the motion ofthe vehicle 103 and an indication of vehicle motion. For example, abraking mechanism 204 can be used to cause a deceleration (and/or stop)of the vehicle 103 as well as to activate the braking lights of thevehicle 103 (e.g., to indicate vehicle is decelerating, stopped, parked,etc.).

In some implementations, the vehicle input device(s) can be associatedwith other features of the vehicle 103. For instance, the vehicle inputdevice(s) can be associated with control of the windshield wipers,headlights, fog lights, horn, vehicle sound system, windows, cabinlighting (e.g., overhead light, instrument panel brightness, etc.),temperature, fan speed, airflow, seat position and/or conditioning,defrost, hood release, truck release, etc. A user can provide input(e.g., physical manipulation, voice activation, etc.) with respect tosuch vehicle input devices to control the various aspects of the vehicle103 associated with the respective vehicle input device.

One or more of the vehicle input devices can be disabled such that inputby a user with respect to the vehicle input device(s) will not affect anoperation of the vehicle 103. For example, returning to FIG. 1, thevehicle 103 can be configured to provide one or more vehicle services toone or more users 136 (e.g., passengers, customers, etc.). The vehicleservice(s) can include transportation services (e.g., rideshareservices), courier services, delivery services, and/or other types ofservices. The vehicle 103 can operate in a particular operating modewhen providing the vehicle service to the user(s) 136. For example, theoperations computing system 104 can receive a service request from auser 136. The operations computing system 104 can select the vehicle 103to provide the requested services to the user 136. For instance, theoperations computing system 104 can select the vehicle 103 to pick-upthe user 136 and deliver the user 136 to a destination in accordancewith a request for rideshare services. The operations computing system104 can communicate with the vehicle 103 to instruct the vehicle 103 topick-up the user 136 (e.g., a passenger of the vehicle 103 for arideshare service). Moreover, the operations computing system 104 canprovide a communication 138 to the vehicle 103 that instructs thevehicle 103 to enter into a first operating mode, such as the fullyautonomous operating mode 106A of the vehicle 103. The vehicle computingsystem 102 can obtain the communication 138 and cause the vehicle 103 toenter into the first operating mode (e.g., the fully autonomousoperating mode 106A) based at least in part on a communication 138. Inthis way, the vehicle 103 can operate in a preferred operating modewhile providing the vehicle service(s). In some implementations, thevehicle computing system 102 can cause the vehicle 103 to enter into thefirst operating mode, without receiving the communication 138.

The vehicle computing system 102 can identify that the vehicle 103 isoperating in a first operating mode. The vehicle computing system 102can obtain data indicating whether the vehicle 103 is in a fullyautonomous mode 106A, semi-autonomous mode 106B, manual mode 106C, etc.For example, the vehicle computing system 102 can monitor the state ofan onboard interface (e.g., switch interface) to determine whether thevehicle 103 has been set to enter into the fully autonomous mode 106A.In some implementations, another computing device onboard the vehicle103 that is configured to adjust the operating mode of the vehicle 103(e.g., a mode manager system) can provide data indicative of theoperating mode of the vehicle 103 (e.g., before, during, and/or afterthe vehicle 103 has completed a transition to the operating mode).Additionally, or alternatively, the vehicle computing system 102 candetermine the operating mode of the vehicle 103 based at least in parton the communication 138 provided via a remote computing system (e.g.,the operations computing system 104).

The vehicle computing system 102 can determine one or more vehicle inputdevices to be disabled based at least in part on the operating mode ofthe vehicle 103 (e.g., the fully autonomous mode 106A). For example, thevehicle computing system 102 can store (e.g., on the vehicle 103) a datastructure that indicates which of the vehicle input device(s) locatedonboard the vehicle 103 are to be disabled in the event the vehicle 103enters into a particular mode. The data structure can include a table,list, rule, tree, and/or other structure that can be modified to add,remove, edit, etc. the vehicle input devices(s) that are to be disabledfor a particular operating mode. This can be advantageous when vehicleinput device(s) are added, removed, and/or changed for newer models of avehicle. In some implementations, such a data structure can be storeremotely from the vehicle 103 and the vehicle computing system 102 canaccess the data structure via wireless communication. In someimplementations, the data structure can be updated remotely from thevehicle 103 and provided to the vehicle 103 periodically (e.g., whenchanges are made).

The vehicle computing system 102 can select which vehicle inputdevice(s) to disable based at least in part on the function of thosedevices. For instance, the vehicle computing system 102 can determinethat the vehicle input device(s) that are configured to control and/orotherwise affect the motion of the vehicle 103 should be disabled whilethe vehicle 103 is in a fully autonomous operating mode 106A. Forexample, the vehicle input device(s) can include a first set of vehicleinput device(s). The first set of vehicle input device(s) can beconfigured to at least partially control and/or affect a motion of thevehicle 103. For instance, the first set of vehicle input device(s) caninclude vehicle input devices that affect a direction of a motion of thevehicle 103, lock the wheels of the vehicle 103, and/or otherwise affectthe motion of the vehicle 103. The first set of vehicle input devicescan include at least one of the steering mechanism 202 of the vehicle103, the braking mechanism 204 of the vehicle 103, the accelerationmechanism 206 of the vehicle 103, or the gearshift mechanism of thevehicle 103. In some implementations, the first set of vehicle inputdevice(s) can also, or alternatively, include the power adjustmentmechanism 208 of the vehicle 103.

Additionally, or alternatively, the vehicle computing system candetermine that the vehicle input devices configured to control and/oraffect the indication of motion should be disabled while the vehicle 103is in the fully autonomous operating mode 106A. For example, the vehicleinput device(s) can include a second set of vehicle input devices. Thesecond set of vehicle input device(s) can be configured to at leastpartially control the indication of motion of the vehicle 103. Forinstance, the second set of input devices can include at least one of aturn indication mechanism 210 of the vehicle 103 or a hazard indicationmechanism 212 of the vehicle 103.

In some implementations, the vehicle computing system 102 can select oneor more other vehicle input device(s) to be disabled to avoid furtheruser interference with the operation of the vehicle 103. For example,the vehicle input devices can include a third set of vehicle inputdevices that are configured to control other aspects of the autonomousvehicle (beyond motion and indication of motion). The third set ofvehicle input devices can include, for example, the vehicle inputdevices associated with the vehicle's windows, windshield wipers,temperature control, etc. The vehicle computing system 102 can send oneor more control signals to disable these vehicle input devices.

The vehicle computing system 102 can disable the one or more vehicleinput devices such that an input by the user 136 with respect to the oneor more vehicle input devices does not affect an operation of thevehicle 103. For example, the vehicle 103 can enter into a fullyautonomous (e.g., self-driving) operating mode 106A. The vehiclecomputing system 102 can send one or more control signals to disable thesteering mechanism 202, the braking mechanism 204, the accelerationmechanism 206, the power statement adjustment mechanism 208, etc. suchthat a user 136 (e.g., a passenger of a rideshare service) cannotinterfere with the motion of the vehicle 103 while it autonomouslynavigates. The vehicle computing system 102 can also send one or morecontrol signals to disable the turn indication mechanism 210, the hazardindication mechanism 212, etc. such that a user 136 cannot interferewith the indication of vehicle motion (e.g., via an incorrect lanechange, inappropriate hazard lights). In this way, the vehicle computingsystem 102 can disable the vehicle input device(s) that are associatedwith controlling the motion of the vehicle 103 and/or indicating vehiclemotion to others on a travel way to avoid unwanted user interference.

The vehicle input device(s) can be disabled in a variety of manners. Insome implementations, a vehicle input device can be disabledelectronically. By way of example, the acceleration mechanism 206 of thevehicle 103 can be associated with a throttle by wire system thatcontrols the acceleration of the vehicle 103 based at least in part oncommunications from the acceleration mechanism 206 to a control deviceassociated therewith. A throttle by wire system can include anelectronic throttle without any cables from the acceleration mechanismto the engine (e.g., a throttle valve of the engine). Such a system canreceive inputs from the acceleration mechanism 206 and send commands tocontrol vehicle acceleration. To disable the acceleration mechanism 206,the vehicle computing system 102 can send one or more control signals todisable communication from the acceleration mechanism 206 such thatinput signals from the acceleration mechanism 206 are temporarilyprevented and/or ignored. In this way, the speed of the vehicle 103 isnot affected by compression (or release) of the acceleration mechanism206 by the user 136. Similar such approaches can be undertaken forsteering by wire and/or braking by wire type systems to disable thesteering mechanism 202 and/or the braking mechanism 204.

In some implementations, a vehicle input device can be disabledmechanically. By way of example, a vehicle 103 can include a motor thatis associated with the steering mechanism 202 (e.g., associated with asteering rack of the steering mechanism). The motor can control themotion of the steering mechanism 202. To disable the steering mechanism202 such that input by a user is ineffective, the vehicle computingsystem 102 can send control signal(s) to activate the motor such thatthe steering mechanism 202 is moved with sufficient force so that ahuman user cannot overpower the motor to adjust the steering mechanism202 in another manner (e.g., in an opposite direction, further in thesame direction). Additionally, or alternatively, the motor could apply acounteractive force to any user input associated with the steeringmechanism 202. In another example, the braking mechanism 204 (e.g.,brake pedal) can be associated with an actuator (e.g., linear actuator).To disable the braking mechanism 204, the vehicle computing system 102can send one or more control signal(s) to cause the actuator to stiffenand provide a resistance force such that a user 136 cannot compress thebraking mechanism 204. A similar such approach could be used to disablethe acceleration mechanism 206.

In some implementations, a vehicle input device can be mechanicallydisabled such that a user 136 can manipulate the input device but withno effect on the operation of the vehicle 103. For example, a mechanicaldevice (e.g., actuator, motor) can be disconnected and/or caused toprovide no resistance force such that a user 136 can manipulate thevehicle input device (e.g., compress the braking mechanism 204), butsuch manipulation would have no effect on the operation of the vehicle103. This can provide a similar approach to the electronic disablement,as described herein.

In some implementations, the vehicle input device(s) can be disabledaccording to a tiered approach. Such a tiered approach can beidentified, for example, in the data structure accessed by the vehiclecomputing system 102. For example, the vehicle computing system 102 candisable the first set of vehicle input device(s) such that an input bythe user 136 with respect to at least one of the input device(s) in thefirst set vehicle input device(s) does not affect the operation of thevehicle 103 (e.g., the motion of the vehicle 103). After the first setof vehicle input device(s) are disabled, the vehicle computing system102 can disable the second set of vehicle input device(s) such that aninput by the user 136 with respect to at least one of the vehicle inputdevice(s) of the second set of vehicle input device(s) does not affectthe operation of the vehicle 103 (e.g., an indication of a motion of thevehicle 103). In this way, the motion control of the vehicle 103 can bedisabled before motion indication control. Additionally, oralternatively, after the first and/or second set of vehicle inputdevice(s) are disabled, the vehicle computing system 102 can disable oneor more of the input devices in the third set of vehicle input device(s)such that an input by the user 136 with respect to at least one of thevehicle input device(s) of the third set of vehicle input device(s) doesnot affect the operation of the vehicle 103 (e.g., adjustment of thewindows, temperature, etc.).

The vehicle computing system 102 can provide an indication that thevehicle input device(s) are disabled. For instance, FIG. 3 depicts anexample display device 300 according to example embodiments of thepresent disclosure. The vehicle computing system 102 can provide, fordisplay via a user interface 302, data 304 indicating that the one ormore vehicle input devices are disabled. For example, the data 304 canidentify the operating mode of the vehicle 103, one or more of thevehicle input device(s) that have been disabled, and/or otherwiseindicate that the user 136 is not provided with control of the vehicle103. Such information can be displayed by the display device 300 via atextual message, a graphical representation (e.g., symbol, picture,etc.), and/or via other types of communication (e.g., lighting change).The display device 300 can be located onboard the vehicle 103 (e.g., atablet in the vehicle interior) and can be viewable by the user 136.Additionally, or alternatively, the display device 300 can be locatedremotely from the vehicle 103 (e.g., viewable for an operator that isremote from the vehicle 103). In some implementations, the userinterface 302 can be displayed on a user device of the user 136. Otherforms of communication can be used to inform the user 136 that one ormore of the vehicle input devices are disabled. For example, a lightelement (e.g., LED light) in the interior cabin of the vehicle 103 canbe illuminated when the vehicle input device(s) are disabled. In someimplementations, the vehicle computing system 102 can cause an audiblecommunication to be played (e.g., via speakers of the vehicle 103) toinform the user 136 of the operating mode of the vehicle 103, whetherany of the vehicle input devices are disabled/enabled, which vehicleinput devices are disabled/enabled, etc.

In some implementations, the vehicle computing system 102 can re-enableone or more of the vehicle input devices. For instance, the vehiclecomputing system 102 can identify a change in the operating mode of thevehicle 103. One or more vehicle input device(s) can be enabled based atleast in part on the change in the operating mode of the vehicle 103. Byway of example, the vehicle 103 can finish transporting a user 136 to adestination location and travel to a service depot for scheduledmaintenance. The vehicle 103 can enter into (and/or be caused to enterinto) the manual operating mode 106C such that a technician at theservice depot can control the vehicle 103. The vehicle computing system102 can identify that the vehicle 103 has changed from a first operatingmode (e.g., a fully autonomous operating mode 106A) to a secondoperating mode (e.g., a manual control operating mode 106C) and enableone or more vehicle input devices such that the technician can controlthe vehicle 103. For example, one or more vehicle input devices (e.g.,steering mechanism, hood release) that were previously disabled duringthe first operating mode can be enabled when the vehicle 103 is in thesecond operating mode.

FIG. 4 depicts a flow diagram of an example method 400 of disablingautonomous vehicle input devices according to example embodiments of thepresent disclosure. One or more portion(s) of the method 400 can beimplemented by one or more computing devices such as, for example, theone or more computing device(s) of the vehicle computing system 102(shown in FIG. 1). Each respective portion of the method 400 (e.g.,402-412) can be performed by any (or any combination) of the one or morecomputing devices. For example, one portion can be performed by a firstcomputing device of the vehicle computing system 102 and another portioncan be performed by the first computing device and/or a differentcomputing device of the vehicle computing system 102. Moreover, one ormore portion(s) of the method 400 can be implemented as an algorithm onthe hardware components of the device(s) described herein (e.g., as inFIGS. 1 and 5) to, for example, disable autonomous vehicle inputdevices. FIG. 4 depicts elements performed in a particular order forpurposes of illustration and discussion. Those of ordinary skill in theart, using the disclosures provided herein, will understand that theelements of any of the methods discussed herein can be adapted,rearranged, expanded, omitted, combined, and/or modified in various wayswithout deviating from the scope of the present disclosure. In someimplementations, the vehicle computing system 102 can determine (e.g.,locally, onboard the vehicle 103) that the vehicle 103 should enter intoa particular operating mode. The vehicle computing system 102 can causethe vehicle 103 to enter into the operating mode, without receiving acommunication 138 from a remote computing device.

At (402), the method 400 can include identifying an operating mode ofthe vehicle. For instance, the vehicle computing system 102 can identifyan operating mode of a vehicle 103. The operating mode can be, forexample, a fully autonomous operating mode 106A of the vehicle 103. Asdescribed herein, the vehicle computing system 102 can identify theoperating mode via communication with one or more systems onboard thevehicle 103, via communication with one or more computing devices thatare remote from the vehicle 103, and/or other approaches for determiningthe operating mode of the vehicle 103. For example, the vehicle 103 canreceive a communication 138 from one or more computing devices that areremote from the vehicle 103 (e.g., the operations computing system 104).The communication 138 can instruct the vehicle 103 to enter into aparticular operating mode (e.g., into the fully autonomous operatingmode 106A). The vehicle computing system 102 can cause the vehicle 103to enter into the instructed operating mode based at least in part onthe communication 138.

At (404), the method 400 can include determining one or more vehicleinput devices to disable based at least in part on the operating mode.For instance, the vehicle computing system 102 can determine one or morevehicle input devices to be disabled based at least in part on theoperating mode of the vehicle 103. As described herein, the vehicleinput devices are located onboard (e.g., on and/or within) the vehicle103. For example, the vehicle input devices can include at least one ofa steering mechanism 202 of the vehicle 103, a braking mechanism 204 ofthe vehicle 103, an acceleration mechanism 206 of the vehicle 103, oranother vehicle input device that can affect the motion of the vehicle103. The vehicle computing system 102 can determine that such vehicleinput device(s) should be disabled such that a user 136 cannot affectoperation of the vehicle 103 (e.g., vehicle motion) via input withrespect to the vehicle input devices. Additionally, or alternatively,the vehicle input devices can include at least one of a turn indicationmechanism 210 of the vehicle 103, a hazard indication mechanism 212 ofthe vehicle 103, or another vehicle input device that can affect anindication of motion of the vehicle 103. The vehicle computing system102 can determine that such vehicle input device(s) should be disabledsuch that a user 136 cannot affect operation of the vehicle 103 (e.g.,indication of vehicle motion) via input with respect to the vehicleinput devices. The vehicle input devices can also, or alternatively,include vehicle input devices that control other aspects of the vehicle103. In some implementations, the vehicle computing system 102 candetermine that all vehicle input devices onboard the vehicle 103(including, but not limited to, the vehicle input devices that affect amotion of the vehicle 103 and the vehicle input devices that affect anindication of a motion of the vehicle 103) are to be disabled when thevehicle 103 is in a particular operating mode (e.g., the fullyautonomous operating mode 106A).

At (406), the method 400 can include disabling the one or more vehicleinput devices. For instance, the vehicle computing system 102 candisable the one or more vehicle input devices such that an input by auser 136 with respect to the one or more vehicle input devices does notaffect an operation of the vehicle 103. By way of example, the vehicle103 can be configured to provide a vehicle service to a user 136. Thevehicle service can be, for example, a transportation service, deliveryservice, etc. The user 136 can be a passenger of the vehicle 103 for thetransportation service, a user of the delivery service, and/or a user ofanother service. The vehicle computing system 102 can send one or morecontrol signals to disable one or more of the vehicle input devices suchthat an input (e.g., physical manipulation) by the user 136 with respectto the vehicle input device(s) does not interfere with the operation ofthe vehicle 103. For example, the vehicle computing system 102 candisable one or more vehicle input devices (e.g., steering mechanism 202,braking mechanism 204, acceleration mechanism 206, gearshift mechanism)such that the input by the user 136 with respect to the one or morevehicle input devices does not affect a motion of the vehicle 103, whileproviding vehicle services to the user 136. The vehicle computing system102 can also disable one or more vehicle input devices (e.g., turnindication mechanism 210, hazard indication mechanism 212) such that aninput by the user 136 with respect to the one or more vehicle inputdevices does not affect an indication of a motion of the vehicle 103,while providing vehicle services to the user 136.

At (408), the method 400 can include providing an indication that one ormore vehicle input devices are disabled. For instance, the vehiclecomputing system 102 can provide, for display via a user interface 302of a display device 300, data 304 indicating that the one or morevehicle input devices are disabled. As described herein, the displaydevice 300 can located onboard the vehicle 103. The data 304 canindicate the operating mode of the vehicle 103, the vehicle inputdevices that are disabled and/or enabled, and/or other informationassociated with the vehicle 103.

At (410), the method 400 can include identifying a change in theoperating mode of the vehicle. For instance, the vehicle computingsystem 102 can identify that the vehicle 103 is operating in a firstmode, such as a fully autonomous operating mode 106A. The vehiclecomputing system 102 can identify when the vehicle 103 enters into adifferent operating mode, such as a manual operating mode 106C. Thevehicle computing system 102 can enable one or more of the vehicle inputdevices based at least part on the change in the operating mode of thevehicle, at (412). For example, the vehicle computing system 102 canenable the vehicle input devices that are associated with the motion ofthe vehicle 103 (e.g., steering mechanism 202, braking mechanism 204,acceleration mechanism 206) such that a user can control the motion ofthe vehicle 103, while in the manual operating mode 106C.

FIG. 5 depicts an example computing system 500 according to exampleembodiments of the present disclosure. The example system 500illustrated in FIG. 5 is provided as an example only. The components,systems, connections, and/or other aspects illustrated in FIG. 5 areoptional and are provided as examples of what is possible, but notrequired, to implement the present disclosure. The example system 500can include the vehicle computing system 102 of the vehicle 103 and, insome implementations, a remote computing system 510 including one ormore remote computing device(s) that are remote from the vehicle 103(e.g., the operations computing system 104) that can be communicativelycoupled to one another over one or more networks 520. The remotecomputing system 510 can be associated with a central operations systemand/or an entity associated with the vehicle 103 such as, for example, avehicle owner, vehicle manager, fleet operator, service provider, etc.

The computing device(s) 501 of the vehicle computing system 102 caninclude processor(s) 502 and a memory 504. The one or more processors502 can be any suitable processing device (e.g., a processor core, amicroprocessor, an ASIC, a FPGA, a controller, a microcontroller, etc.)and can be one processor or a plurality of processors that areoperatively connected. The memory 504 can include one or morenon-transitory computer-readable storage media, such as RAM, ROM,EEPROM, EPROM, one or more memory devices, flash memory devices, etc.,and combinations thereof.

The memory 504 can store information that can be accessed by the one ormore processors 502. For instance, the memory 504 (e.g., one or morenon-transitory computer-readable storage mediums, memory devices)on-board the vehicle 103 can include computer-readable instructions 506that can be executed by the one or more processors 502. The instructions506 can be software written in any suitable programming language or canbe implemented in hardware. Additionally, or alternatively, theinstructions 506 can be executed in logically and/or virtually separatethreads on processor(s) 502.

For example, the memory 504 on-board the vehicle 103 can storeinstructions 506 that when executed by the one or more processors 502on-board the vehicle 103 cause the one or more processors 502 (thevehicle computing system 102) to perform operations such as any of theoperations and functions of the vehicle computing system 102, asdescribed herein, the operations for disabling autonomous vehicle inputdevices (e.g., one or more portions of method 400), and/or any otherfunctions for disabling autonomous vehicle input devices, as describedherein.

The memory 504 can store data 508 that can be obtained, received,accessed, written, manipulated, created, and/or stored. The data 508 caninclude, for instance, data associated with an operating mode of thevehicle, data associated with one or more vehicle input devices (e.g., adata structure identifying vehicle input devices to be disabled), dataassociated with vehicle services, and/or other data/information asdescribed herein. In some implementations, the computing device(s) 501can obtain data from one or more memory device(s) that are remote fromthe vehicle 103.

The computing device(s) 501 can also include a communication interface509 used to communicate with one or more other system(s) on-board thevehicle 103 and/or a remote computing device that is remote from thevehicle 103 (e.g., of remote computing system 510). The communicationinterface 509 can include any circuits, components, software, etc. forcommunicating via one or more networks (e.g., 520). In someimplementations, the communication interface 509 can include, forexample, one or more of a communications controller, receiver,transceiver, transmitter, port, conductors, software and/or hardware forcommunicating data.

The network(s) 520 can be any type of network or combination of networksthat allows for communication between devices. In some embodiments, thenetwork(s) can include one or more of a local area network, wide areanetwork, the Internet, secure network, cellular network, mesh network,peer-to-peer communication link and/or some combination thereof and caninclude any number of wired or wireless links. Communication over thenetwork(s) 520 can be accomplished, for instance, via a communicationinterface using any type of protocol, protection scheme, encoding,format, packaging, etc.

The remote computing system 510 can include one or more remote computingdevices that are remote from the vehicle computing system 102. Theremote computing devices can include components (e.g., processor(s),memory, instructions, data) similar to that described herein for thecomputing device(s) 501. Moreover, the remote computing system 510 canbe configured to perform one or more operations of the operationscomputing system 104, as described herein.

Computing tasks discussed herein as being performed at computingdevice(s) remote from the vehicle can instead be performed at thevehicle (e.g., via the vehicle computing system), or vice versa. Suchconfigurations can be implemented without deviating from the scope ofthe present disclosure. The use of computer-based systems allows for agreat variety of possible configurations, combinations, and divisions oftasks and functionality between and among components.Computer-implemented operations can be performed on a single componentor across multiple components. Computer-implemented tasks and/oroperations can be performed sequentially or in parallel. Data andinstructions can be stored in a single memory device or across multiplememory devices.

While the present subject matter has been described in detail withrespect to specific example embodiments and methods thereof, it will beappreciated that those skilled in the art, upon attaining anunderstanding of the foregoing can readily produce alterations to,variations of, and equivalents to such embodiments. Accordingly, thescope of the present disclosure is by way of example rather than by wayof limitation, and the subject disclosure does not preclude inclusion ofsuch modifications, variations and/or additions to the present subjectmatter as would be readily apparent to one of ordinary skill in the art.

What is claimed is:
 1. A computer-implemented method of disablingautonomous vehicle input devices, comprising: identifying, by acomputing system comprising one or more computing devices, an operatingmode of an autonomous vehicle; determining, by the computing system, oneor more vehicle input devices to be disabled based at least in part onthe operating mode of the autonomous vehicle, wherein the one or morevehicle input devices are located onboard the autonomous vehicle;disabling, by the computing system, the one or more vehicle inputdevices based at least in part on the identified operating mode of theautonomous vehicle such that an input by a user with respect to the oneor more vehicle input devices does not affect an operation of theautonomous vehicle; and providing, by the computing system for displayvia a user interface of a display device, data indicating that the oneor more vehicle input devices are disabled.
 2. The computer-implementedmethod of claim 1, wherein the autonomous vehicle is configured toprovide a vehicle service to the user, and wherein the vehicle serviceis a transportation service, and wherein the user is a passenger of theautonomous vehicle for the transportation service.
 3. Thecomputer-implemented method of claim 1, wherein the operating mode ofthe autonomous vehicle is a fully autonomous operating mode of theautonomous vehicle, and wherein disabling, by the computing system, theone or more vehicle input devices based at least in part on theidentified operating mode of the autonomous vehicle such that the inputby the user with respect to the one or more vehicle input devices doesnot affect the operation of the autonomous vehicle comprises: disabling,by the computing system, the one or more vehicle input devices when theidentified operating mode is the fully autonomous operating mode.
 4. Thecomputer-implemented method of claim 1, wherein disabling, by thecomputing system, the one or more vehicle input devices based at leastin part on the identified operating mode of the autonomous vehicle suchthat the input by the user with respect to the one or more vehicle inputdevices does not affect the operation of the autonomous vehiclecomprises: disabling, by the computing system, the one or more vehicleinput devices such that the input by the user with respect to the one ormore vehicle input devices does not affect a motion of the autonomousvehicle.
 5. The computer-implemented method of claim 4, wherein the oneor more vehicle input devices comprise at least one of a steeringmechanism of the autonomous vehicle, a braking mechanism of theautonomous vehicle, an acceleration mechanism of the autonomous vehicle,or a gear shift mechanism of the autonomous vehicle.
 6. Thecomputer-implemented method of claim 1, wherein disabling, by thecomputing system, the one or more vehicle input devices based at leastin part on the identified operating mode of the autonomous vehicle suchthat the input by the user with respect to the one or more vehicle inputdevices does not affect the operation of the autonomous vehiclecomprises: disabling, by the computing system, the one or more vehicleinput devices such that the input by the user with respect to the one ormore vehicle input devices does not affect an indication of a motion ofthe autonomous vehicle.
 7. The computer-implemented method of claim 6,wherein the one or more vehicle input devices comprise at least one of aturn indication mechanism of the autonomous vehicle or a hazardindication mechanism of the autonomous vehicle.
 8. Thecomputer-implemented method of claim 1, further comprising: causing, bythe computing system, the autonomous vehicle to enter into the operatingmode based at least in part on a communication from one or morecomputing devices that are remote from the autonomous vehicle, whereinthe communication instructs the autonomous vehicle to enter into theoperating mode.
 9. The computer-implemented method of claim 1, whereinthe display device is located onboard the autonomous vehicle.
 10. Acomputing system for disabling autonomous vehicle input devices,comprising: one or more processors; and one or more tangible,non-transitory, computer readable media that collectively storeinstructions that when executed by the one or more processors cause thecomputing system to perform operations, the operations comprising:identifying that an autonomous vehicle is operating in a fullyautonomous operating mode; determining one or more vehicle input devicesto be disabled based at least in part on the fully autonomous operatingmode of the autonomous vehicle, wherein the one or more vehicle inputdevices are located onboard the autonomous vehicle; disabling the one ormore vehicle input devices such that an input by a user with respect tothe one or more vehicle input devices does not affect an operation ofthe autonomous vehicle; and providing, for display via a user interfaceof a display device, data indicating that the one or more vehicle inputdevices are disabled.
 11. The computing system of claim 10, wherein theautonomous vehicle is configured to provide a vehicle service, andwherein the vehicle service is a delivery service.
 12. The computingsystem of claim 10, wherein the one or more vehicle input devicescomprise a first set of vehicle input devices, and wherein disabling theone or more vehicle input devices such that the input by the user withrespect to the one or more vehicle input devices does not affect theoperation of the autonomous vehicle comprises: disabling the first setof vehicle input devices such that an input by the user with respect toat least one of the input devices in the first set of vehicle inputdevices does not affect a motion of the autonomous vehicle.
 13. Thecomputing system of claim 12, wherein the first set of vehicle inputdevices comprises vehicle input devices that affect a direction of amotion of the autonomous vehicle, lock a wheel of the autonomousvehicle, or otherwise affect the motion of the autonomous vehicle. 14.The computing system of claim 13, wherein the first set of vehicle inputdevices further comprises a power state adjustment mechanism.
 15. Thecomputing system of claim 12, wherein the one or more vehicle inputdevices comprise a second set of vehicle input devices, and whereindisabling the one or more vehicle input devices such that the input bythe user with respect to the one or more vehicle input devices does notaffect the operation of the autonomous vehicle comprises: disabling,after the first set of vehicle input devices are disabled, the secondset of vehicle input devices such that an input by the user with respectto at least one of the vehicle input devices of the second set ofvehicle input devices does not affect an indication of a motion of theautonomous vehicle.
 16. The computing system of claim 15, wherein thesecond set of vehicle input devices comprises a turn indicationmechanism of the autonomous vehicle and a hazard indication mechanism ofthe autonomous vehicle.
 17. An autonomous vehicle, comprising: one ormore vehicle input devices; one or more processors; and one or moretangible, non-transitory, computer readable media that collectivelystore instructions that when executed by the one or more processorscause the autonomous vehicle to perform operations, the operationscomprising: identifying that the autonomous vehicle is operating in anoperating mode, wherein the autonomous vehicle is configured to operatein a plurality of operating modes; providing one or more control signalsto disable the one or more vehicle input devices based at least in parton the operating mode such that an input by a user with respect to theone or more vehicle input devices does not affect an operation of theautonomous vehicle; and providing, for display via a user interface of adisplay device, data indicating that the one or more vehicle inputdevices are disabled.
 18. The autonomous vehicle of claim 17, whereinthe operations further comprise: causing the autonomous vehicle to enterinto the operating mode.
 19. The autonomous vehicle of claim 17, whereinthe display device is viewable by the user.
 20. A computer-implementedmethod of disabling autonomous vehicle input devices, comprising:identifying, by a computing system comprising one or more computingdevices, an operating mode of an autonomous vehicle; determining, by thecomputing system, one or more vehicle input devices to be disabled basedat least in part on the operating mode of the autonomous vehicle,wherein the one or more vehicle input devices comprise at least one of aturn indication mechanism of the autonomous vehicle or a hazardindication mechanism of the autonomous vehicle; and disabling, by thecomputing system, the one or more vehicle input devices based at leastin part on the identified operating mode of the autonomous vehicle suchthat an input by a user with respect to the one or more vehicle inputdevices does not affect an operation of the autonomous vehicle.